function [scenario, referencePathInfo, intersectionInfo] = scenario_TLN_straight()
% scenario_TLN_straight creates a scenario that is compatible with
% TrafficLightNegotiationTestBench.slx. This open loop scenario has an
% intersection and contains ego vehicle. The ego vehicle continues straight
% at the intersection.

%  Copyright 2019-2020 The MathWorks, Inc.

%%
%  Get driving scenario that is compatible with
%  TrafficLightNegotiationTestBench.slx
[scenario,referencePathInfo,intersectionInfo] = ...
    helperGetTrafficLightScene("Straight");

%% Add the ego vehicle
egoVehicle = vehicle(scenario, ...
    'ClassID', 1, ...
    'Position', [referencePathInfo.waypoints(1,1) ...
    referencePathInfo.waypoints(1,2) referencePathInfo.waypoints(1,3)], ...
    'RearOverhang', 0, ...
    'FrontOverhang', 1, ...
    'Wheelbase', 3.7);

speed = 8;
trajectory(egoVehicle, referencePathInfo.waypoints, speed);

%% Simulation stop time
scenario.StopTime = 15;

%% Explore the scenario using Driving Scenario Designer
% drivingScenarioDesigner(scenario);
